Bioinspired legged locomotion : models, concepts, control and applications /: models, concepts, control and applications. (2017)

• Record Type: Book
• Further Information: Note: Edited by Maziar Ahmad Sharbafi, André Seyfarth.
• Editors: Sharbafi, Maziar Ahmad; Seyfarth, André
• Contents: 1. Introduction Maziar Sharbafi and Andre Seyfarth Part I : Concepts 2. Fundamental sub-functions of locomotion Maziar Sharbafi, David Lee, Tim Kiemel and Andre Seyfarth 2.1 Stance David Lee 2.2 Leg swinging Maziar Sharbafi and Andre Seyfarth 2.3 Balancing Tim Kiemel 3. Conceptual models for locomotion Justin Seipe l, Matthew Kvalheim, Shai Revzen, Maziar Sharbafi and Andre Seyfarth 3.1 Conceptual models based on empirical observations Justin Seipel 3.2 Templates and Anchors Matthew Kvalheim and Shai Revzen 3.3 A Simple Model of Running Justin Seipel 3.4 Simple Models of Walking Justin Seipel 3.5 Locomotion as an oscillator Shai Revzen and Matthew Kvalheim 3.6 "Model zoo" - extended conceptual models Maziar Sharbafi and Andre Seyfarth Part II: Control 4. Control of motion and compliance Katja Mombaur, Heike Vallery, Yue Hu, Jonas Buchli, Pranav Bhounsule, Thiago Boaventura, Patrick M. Wensing, Shai Revzen, Aaron Ames, Ioannis Poulakakis and Auke Ijspeert, 4.1 Stability and robustness Katja Mombaur and H. Vallery 4.2 Optimal control as guiding principle of locomotion Katja Mombaur 4.3 Efficiency and compliance Katja Mombaur Yue Hu and Jonas Buchli 4.4 Control based on passive dynamic walking Pranav A. Bhounsule 4.5 Impedance control for bioinspired robots Jonas Buchli and Thiago Boaventura 4.6 Template models for control Patrick M. Wensing and Shai Revzen 4.7 Hybrid Zero Dynamics Control of Legged Robots Aaron Ames and Ioannis Poulakakis 4.8 Locomotion control based on central pattern generators Auke J. Ijspeert 5. Torque control in legged locomotion Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 5.1 Introduction Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 5.2 System Overview Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 5.3 A Case Study with an Ankle Exoskeleton Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 5.4 Discussion Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 6. Neuromuscular control in locomotion Arthur Prochazka, Hartmut Geyer, Simon Gosgnach, and Charles Capaday 6.1 Introduction: Feed forward vs feedback in neural control: central pattern generators versus reflexive control Arthur Prochazka and Hartmut Geyer 6.2 Locomotor Central Pattern Generators Simon Gosgnach and Arthur Prochazka, 6.3 Corticospinal control of human walking Charles Capaday 6.4 Feedback control: interaction between centrally generated commands and sensory input Arthur Prochazka 6.5 Neuromechanical control models Arthur Prochazka and Hartmut Geyer Part III: Implementation 7. Legged robots with bio-inspired morphology Ioannis Poulakaki, Madhusudhan Venkadesan, Shreyas Mandre, Mahesh M. Bandi, Jonathan Clark and Koh Hosoda, Maarten Weckx, Bram Vanderborght and Maziar A. Sharbafi 7.1 Biological feet: Evolution, mechanics and applications Madhusudhan Venkadesan, Shreyas Mandre and Mahesh M. Bandi 7.2 Bio-inspired leg design Jonathan Clark 7.3 Human inspired bipeds Koh Hosoda, Maarten Weckx, Bram Vanderborght, Ioannis Poulakakis and Maziar A. Sharbafi 7.4 Bioinspired Robotic Quadrupeds Ioannis Poulakakis 8. Actuation in legged locomotion Koh Hosoda, Christian Rode and Tobias Siebert, Bram Vanderborght, Maarten Weckx and D. Lefeber 8.1 Biological principles of actuation Christian Rode and Tobias Siebert 8.2 From stiff to compliant actuation Bram Vanderborght, Maarten Weckx and D. Lefeber 8.3 Actuators in robotics as artificial muscles Koh Hosoda 9. Conclusions and outlook (How far are we from Nature?) Maziar Sharbafi, David Lee, Thomas Sugar, Jeffrey Ward, Kevin W. Hollander, Andre Seyfarth and Koh Hosoda 9.1 Robustness Versatility, Robustness and Economy David Lee 9.2 Application in daily life (Assistive systems) Thomas Sugar, Jeffrey Ward and Kevin W. Hollander 9.3 Related research projects and future directions Maziar Sharbafi, Andre Seyfarth, Koh Hosoda and Thomas Sugar
• Publisher Details: Amsterdam : Butterworth-Heinemann
• Publication Date: 2017
• Extent: 1 online resource
• Subjects: 629.892; Robots; Robots -- Motion
• Languages: English
• ISBNs: 9780128037744
• Related ISBNs: 9780128037669
• Notes: Note: Description based on CIP data; item not viewed.
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.